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The actuators themselves are compact, inexpensive and wireless. Using needle driving as an example application, actuation principles and force production capabilities are examined. Actuator stability and performance are analyzed for the two cases of state estimation at the input versus the output of the actuator transmission. Closed-loop needle position control is achieved by interleaving imaging pulse sequences to estimate needle position (transmission output estimation) and propulsion pulse sequences to drive the actuator. A prototype needle driving robot is used to validate the proposed approach in a clinical MRI scanner.<\/jats:p>","DOI":"10.1177\/0278364913500362","type":"journal-article","created":{"date-parts":[[2013,10,4]],"date-time":"2013-10-04T23:07:00Z","timestamp":1380928020000},"page":"1536-1552","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":50,"title":["An MRI-powered and controlled actuator technology for tetherless robotic interventions"],"prefix":"10.1177","volume":"32","author":[{"given":"Panagiotis","family":"Vartholomeos","sequence":"first","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA"}]},{"given":"Christos","family":"Bergeles","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA"}]},{"given":"Lei","family":"Qin","sequence":"additional","affiliation":[{"name":"Dana Farber Cancer Institute, Boston, MA, USA"}]},{"given":"Pierre E.","family":"Dupont","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital, Harvard Medical School, Boston, MA, USA"}]}],"member":"179","published-online":{"date-parts":[[2013,10,4]]},"reference":[{"key":"bibr1-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910775"},{"key":"bibr2-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979954"},{"key":"bibr3-0278364913500362","first-page":"2236","author":"Barth HV","year":"1973","journal-title":"IBM Technical Disclosure Bulletin"},{"key":"bibr4-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2012.6346084"},{"key":"bibr5-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630649"},{"key":"bibr6-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1002\/jmri.21129"},{"key":"bibr7-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1002\/mrm.21638"},{"key":"bibr8-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-40899-4_95"},{"key":"bibr9-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2007.897375"},{"key":"bibr10-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-85990-1_61"},{"key":"bibr11-0278364913500362","doi-asserted-by":"publisher","DOI":"10.2514\/6.2010-1537"},{"key":"bibr12-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1088\/0031-9155\/53\/17\/012"},{"key":"bibr13-0278364913500362","first-page":"735","volume":"20","author":"Lewin JS","year":"1999","journal-title":"American Journal of Neuroradiology"},{"key":"bibr14-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2010.2089983"},{"key":"bibr15-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908104855"},{"key":"bibr16-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1063\/1.2713229"},{"key":"bibr17-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1522-712X(1995)1:4<242::AID-IGS7>3.0.CO;2-A"},{"key":"bibr18-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1142\/9789812702678_0056"},{"key":"bibr19-0278364913500362","first-page":"20","volume-title":"International Symposium on Magnetic Resonance in Medicine","author":"McNab JA","year":"2012"},{"key":"bibr20-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1002\/jmri.21262"},{"key":"bibr21-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2007.900816"},{"key":"bibr22-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1118\/1.2218061"},{"key":"bibr23-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1002\/mrm.24310"},{"key":"bibr24-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2004.1403343"},{"key":"bibr25-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1016\/j.brachy.2010.01.003"},{"key":"bibr26-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224550"},{"key":"bibr27-0278364913500362","doi-asserted-by":"publisher","DOI":"10.1016\/j.mri.2011.10.006"},{"key":"bibr28-0278364913500362","first-page":"1","author":"Tokuda J","year":"2012","journal-title":"Int. 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